CN113359841A - Unified driving model for unmanned aerial vehicle heterogeneous load equipment - Google Patents
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Abstract
The invention provides a unified driving model of heterogeneous load equipment of an unmanned aerial vehicle, wherein the logic level of the equipment accessed into the unified driving model comprises a unified access layer, an access management layer and a unified management layer; the uniform access layer realizes the physical access of the interfaces of multiple types and performs data interaction between the interfaces of multiple devices and the uniform data channel; the access management layer drives and manages the unified data channel and provides a unified operation interface for the unified management layer so that the unified management layer can operate different interface devices; the unified management layer performs equipment management and data interaction based on a unified operation interface provided by the access management layer, and an equipment management program is dynamically loaded in a form of a dynamic link library; the unified access layer is connected with the access management through the unified data channel, and the unified data channel is responsible for uploading interface data and transmitting upper data to an equipment interconnection interface. The driving model of the invention can achieve the purpose of flexibly accessing and driving various devices.
Description
Technical Field
The invention relates to a unified driving model of an unmanned aerial vehicle heterogeneous load device, and relates to the field of unmanned aerial vehicle data processing equipment.
Background
With the wide application of the unmanned aerial vehicle, the unmanned aerial vehicle system needs to access different devices or equipment to realize functions required by users. The existing unmanned aerial vehicle equipment is various in types, and when the equipment is accessed into a system, firstly, the system needs a hardware interconnection interface for supporting the equipment to be accessed; secondly, an interface driving program of the corresponding equipment needs to be designed according to a driving mechanism of an operating system; and then the management program of the equipment is realized based on the drive. Therefore, to realize the interconnection between the device and the system, the design of the system needs to be designed from a hardware interface, interface protocol conversion, a drive based on an operating system and a full process of application development, the existing device access mode is developed aiming at the device to be connected with the system, and if the device is replaced, the system needs to be redesigned; if the system is replaced, redesign is needed, and the system cannot flexibly adapt to application requirements. With the change of application requirements, the types of devices to be connected by the system are various, which brings great inconvenience to the development, management, modification and transplantation of the devices, and has high system maintenance cost and low compatibility among the devices.
Disclosure of Invention
Aiming at the defects, the invention provides a unified driving model for heterogeneous load equipment of an unmanned aerial vehicle, aiming at solving the problem that the unified driving model is lacked to carry out unified management on equipment access when the existing equipment and the load equipment of an unmanned aerial vehicle-mounted system are interconnected.
The technical scheme of the invention is as follows: the heterogeneous load equipment unified driving model of the unmanned aerial vehicle is characterized in that the logic level of the equipment accessing the unified driving model comprises a unified access layer, an access management layer and a unified management layer; the uniform access layer realizes the physical access of the interfaces of multiple types and performs data interaction between the interfaces of multiple devices and the uniform data channel; the access management layer drives and manages the unified data channel and provides a unified operation interface for the unified management layer so that the unified management layer can operate different interface devices; the unified management layer performs equipment management and data interaction based on a unified operation interface provided by the access management layer, and an equipment management program is dynamically loaded in a form of a dynamic link library; the unified access layer is connected with the access management through the unified data channel, and the unified data channel is responsible for uploading interface data and transmitting upper data to an equipment interconnection interface.
Further, the unified access layer of the unified driving model of the heterogeneous load equipment of the unmanned aerial vehicle realizes physical access of multiple types of equipment according to an interface protocol.
Further, the unified data channel of the unified driving model of the heterogeneous load equipment of the unmanned aerial vehicle is a high-speed interface.
Further, the unified access layer of the unified driving model of the heterogeneous load equipment of the unmanned aerial vehicle supports the electrical characteristics of a high-speed interface protocol and analyzes the protocol.
Further, the unified access layer device interface controller of the unmanned aerial vehicle heterogeneous load device unified driving model receives and transmits interface data in parallel.
Furthermore, the access management layer of the unified driving model of the heterogeneous load equipment of the unmanned aerial vehicle establishes an independent data buffer area for data receiving and transmitting of each equipment interface, different equipment data buffer areas correspond to different memory address spaces, and the buffer areas are managed.
Further, the buffer management of the unified driving model of the heterogeneous load device of the unmanned aerial vehicle comprises: setting the size of a buffer area, emptying the buffer area and reading the data of the buffer area by utilizing a message queue mechanism.
Further, the access management of the unified driving model of the heterogeneous load equipment of the unmanned aerial vehicle carries out preliminary processing on data received from the equipment interface, including data framing, guarantees the integrity of one frame of received data, and carries out CRC (cyclic redundancy check) on the data frame to guarantee the correctness of the data.
Further, the unified management layer of the unified driving model of the heterogeneous load equipment of the unmanned aerial vehicle identifies the equipment type by receiving equipment information data.
Further, the unified management layer of the unified driving model of the heterogeneous load equipment of the unmanned aerial vehicle provides a file-based unified calling interface to an upper layer.
The invention has the beneficial effects that: the heterogeneous load equipment access unified driving model is provided, various equipment access systems through a unified access layer, and the unified access layer shields the interface difference of each equipment; the access management layer manages the interconnection interfaces of the unified access layer and the upper layer; the unified management layer provides application layer drivers for the devices based on the access management layer. The physical difference of the interfaces and the drive are decoupled through a uniform drive model, and the device drive and the application drive are decoupled, so that the aim of flexibly accessing and driving various devices is fulfilled. The unified drive model contains concepts of two-stage drive, one layer is the drive of a unified access layer to a device interface, the second layer is the read-write drive of an application drive to the device, and the unified drive model is wider than the concept of the device drive of an operating system and can support interconnected devices of different operating systems and different device types. The driving model of the invention shields the difference of the equipment, enhances the flexibility and the expandability of the system, shortens the development period, reduces the development cost and improves the use efficiency of the equipment when new equipment is accessed or the system is upgraded. The standardization and serialization of the device drive are realized through the device unified drive model, and the intelligent management of the device can be expanded on the basis of the unified drive model.
Drawings
Fig. 1 is a logic level schematic diagram of a unified driving model of an unmanned aerial vehicle heterogeneous load device according to the invention;
fig. 2 is a data transceiving schematic diagram of a unified access layer of a unified driving model of an unmanned aerial vehicle heterogeneous load device according to the present invention;
fig. 3 is a schematic view of the access management layer function configuration of the unified driving model of the heterogeneous load device of the unmanned aerial vehicle;
fig. 4 is a schematic diagram of data transmission of an access management layer of a unified driving model of an unmanned aerial vehicle heterogeneous load device;
fig. 5 is a working flow chart of the unified driving layer of the unified driving model of the heterogeneous load device of the unmanned aerial vehicle.
Detailed Description
The technical solution of the present invention is further described below with reference to the accompanying drawings:
as shown in fig. 1, the logic level of the unified driving model accessed by the heterogeneous load devices of the unmanned aerial vehicle includes a unified access layer, an access management layer and a unified management layer.
The unified access layer realizes physical access of the multiple types of interfaces and performs data interaction between the multiple equipment interfaces and the unified data channel; the access management layer drives and manages the unified data channel and provides a unified operation interface for the unified management layer so that the unified management layer can operate different interface devices; the unified management layer performs equipment management and data interaction based on a unified operation interface provided by the access management layer, and an equipment management program is dynamically loaded in a form of a dynamic link library; the unified access layer is connected with the access management layer through the unified data channel, and the unified data channel is responsible for uploading interface data and transmitting upper data to an equipment interconnection interface.
The details of each logical level are described below.
One, unified access layer
The unified access layer is a software and hardware combination with a processing unit, and all the devices are connected with the system through the unified access layer. The unified access layer realizes read-write operation on the device interface and serves as a primary drive of the device.
The unified access layer implements the physical layer of the device interface protocol. The unified access layer implements physical layer protocol resolution for the interface, first the unified access layer has the form of a physical connector that connects to the device. Secondly, the unified access layer provides an interface circuit matched with the physical characteristics of the interface protocol, and the interface signal is isolated, enhanced and converted, wherein the conversion comprises the steps of converting the interface electric signal into a level signal compatible with the unified access layer processor and converting the electric signal sent by the unified access layer processor into a level signal compatible with the interface protocol.
The interface protocol supported by the unified access layer comprises various interfaces which CAN be connected with the system, such as low-speed interfaces RS232, RS422, CAN and the like; high speed interface 1000Base-T, SDI, etc.
The unified access layer processor analyzes or encapsulates the data of the equipment according to an interface protocol. That is, valid data is extracted from the frame format of the interface protocol, or data to be transmitted to the device is encapsulated into a prescribed data frame according to the interface protocol. The device interface has respective data sending and receiving channel and data storage space, the interface protocol analysis adopts modular design, and different interface protocol analyses are processed in parallel.
The interface types supported by the unified access layer can cover as many types and numbers as possible according to application requirements, and when an interface protocol other than that supported by the existing unified access layer needs to be added, only a physical layer circuit and a protocol analysis module need to be added on the basis of the existing access layer.
The interconnection channel of the unified access layer and the upper layer is a unified data channel, and the unified data channel is a high-speed interface. The unified access layer supports the electrical characteristics of the high-speed interface protocol and analyzes the protocol.
And data transmission is carried out between the high-speed interface controller and the equipment interface controller of the unified access layer through the multi-level cache, and the interrupt is generated by detecting the cache state.
The unified access layer high-speed interface controller and the equipment interface controller are in a one-to-many relationship, and a mapping relationship between a high-speed interface data packet and an equipment interface data packet is established. When the data receiving buffer from the device has data, an interrupt is generated to inform the high-speed interface controller, the high-speed interface controller buffers the data from the corresponding interface according to the interrupt number, encapsulates the data into high-speed interface protocol data, and transmits the data to an upper layer through a high-speed interface channel. When the upper layer sends data to the equipment, the high-speed interface controller carries out protocol analysis, extracts effective data from the data packet, determines corresponding equipment through the data identifier, forwards the data to a data sending buffer corresponding to the equipment interface, generates an interrupt to inform the equipment interface controller, and the equipment interface controller obtains the data from the data sending buffer and sends the data to the equipment according to the interface protocol. A unified access point data transceiving schematic is shown in fig. 2.
The unified access layer equipment interface controller receives and transmits interface data in parallel.
The high-speed interface controller of the unified access layer receives the upper layer data in series, extracts the data from the interface buffer in series, and transmits the upper layer data in series to the interface sending buffer, or transmits the data in the equipment interface receiving buffer in series to the upper layer. The class parallelism is achieved by shielding the operation sequence of the equipment interfaces through the high speed of the high speed interfaces.
Second, access management layer
The access management layer realizes the driving of a high-speed interface (unified interconnection interface) based on an operating system, and provides a unified function call interface to an upper layer on the basis of a driving framework of the operating system. Fig. 3 is a functional diagram of an access management layer. Under the airborne operating system of the unmanned aerial vehicle, the high-speed interface drives the high-speed interface to open, control, read, write and release equipment based on files.
The access management layer performs equipment management, data transmission management and interrupt management on the high-speed interface based on the operating system.
The access management layer provides a uniform function interface for the uniform management layer to operate the device interface data, and the operation function is as shown in the following table:
the access management layer establishes an independent data buffer area for data receiving and transmitting of each equipment interface, different equipment data buffer areas correspond to different memory address spaces, and the buffer areas are managed. The buffer management comprises: setting the size of a buffer area, emptying the buffer area and reading the data of the buffer area by utilizing a message queue mechanism. A schematic diagram of access management layer data transmission is shown in fig. 4.
The access management layer establishes a mapping relation between an interface number (block _ type) of the device operation function and different device data packets. When the upper layer writes data to the equipment through the unified operation interface, the data is written into the corresponding application layer data buffer firstly, when the buffer is full, the high-speed interface controller of the access management layer is informed, the high-speed interface controller fetches data according to different buffer addresses, corresponding equipment interface marks are added into the data packets, and the high-speed interface controller sends the data packets. When the high-speed interface controller receives the data packet, the data packet is firstly analyzed, effective data is extracted, the device interface from which the data comes is judged according to the device interface mark in the effective data, the data is written into the buffer area of the corresponding device interface, and the upper layer is informed through a message queue. And the unified management layer fetches the read data from the corresponding buffer according to the device ID of the message queue.
The access management performs preliminary processing on data received from the device interface, including framing the data, ensuring the integrity of a frame of the received data, and performing CRC on the data frame to ensure the correctness of the data.
Three, unified management layer
And the unified management layer performs read-write control on the equipment based on the equipment unified operation interface provided by the access management layer. The control logic of different devices exists in the form of dynamic link library, and is positioned in the application layer of the system, and is used as the secondary drive of the devices.
As shown in fig. 5, the flow of the unified management layer during operation is as follows: firstly, acquiring equipment information (based on a transmission rule of the equipment information) through an equipment reading interface, judging the equipment information, and if the equipment information is consistent with the equipment information in a system configuration file, loading a corresponding secondary drive dynamic link library; and if the information does not accord with each other for multiple times, stopping loading the equipment drive and reporting an error. The read-write control driver of the equipment exists in the form of a dynamic link library, can be dynamically loaded according to the model of the connected equipment in the starting process of the system, and can select a secondary driver for loading different functions to the same equipment to realize flexible control of the equipment.
The upper application realizes the interaction with the device driver through the uniform calling interface based on the files, different devices correspond to different files, and interface parameters and transmitted data are used as the content of the files. When the device driver transmits data to the upper layer application, the driver opens the corresponding device file, writes data to the specified position of the file, and the upper layer application reads the data from the specified position of the file. When the upper layer application transmits data to the device driver, the upper layer application opens the corresponding device file, writes data to the specified position of the file, and the driver reads the data from the specified position of the file. The file read-write interface is shown in the following table:
in the technical scheme of the uniform driving model of the heterogeneous load equipment, various equipment accesses a system through a uniform access layer, and the uniform access layer shields the interface difference of each equipment; the access management layer manages the interconnection interfaces of the unified access layer and the upper layer; the unified management layer provides application layer drivers for the devices based on the access management layer. The physical difference of the interfaces and the drive are decoupled through a uniform drive model, and the device drive and the application drive are decoupled, so that the aim of flexibly accessing and driving various devices is fulfilled. The unified drive model contains concepts of two-stage drive, one layer is the drive of a unified access layer to a device interface, the second layer is the read-write drive of an application drive to the device, and the unified drive model is wider than the concept of the device drive of an operating system and can support interconnected devices of different operating systems and different device types.
Claims (10)
1. The unified drive model of heterogeneous load equipment of unmanned aerial vehicle, its characterized in that: the logic level of the equipment accessing the unified driving model comprises a unified access layer, an access management layer and a unified management layer;
the uniform access layer realizes the physical access of the interfaces of multiple types and performs data interaction between the interfaces of multiple devices and the uniform data channel;
the access management layer drives and manages the unified data channel and provides a unified operation interface for the unified management layer so that the unified management layer can operate different interface devices; the unified management layer performs equipment management and data interaction based on a unified operation interface provided by the access management layer, and an equipment management program is dynamically loaded in a form of a dynamic link library; the unified access layer is connected with the access management through the unified data channel, and the unified data channel is responsible for uploading interface data and transmitting upper data to an equipment interconnection interface.
2. The unified driving model for the heterogeneous load devices of unmanned aerial vehicle according to claim 1, characterized in that: the unified access layer realizes the physical access of various types of equipment according to an interface protocol.
3. The unified driving model for the heterogeneous load devices of unmanned aerial vehicle according to claim 1, characterized in that: the unified data channel is a high-speed interface.
4. The unified driving model for the heterogeneous load devices of unmanned aerial vehicle according to claim 3, wherein: the uniform access layer supports the electrical characteristics of a high-speed interface protocol and analyzes the protocol.
5. The unified driving model for the heterogeneous load devices of unmanned aerial vehicle according to claim 1, characterized in that: and the unified access layer equipment interface controller receives and transmits interface data in parallel.
6. The unified driving model for the heterogeneous load devices of unmanned aerial vehicle according to claim 1, characterized in that: the access management layer establishes an independent data buffer area for data receiving and transmitting of each equipment interface, different equipment data buffer areas correspond to different memory address spaces, and the buffer areas are managed.
7. The unified drive model for the heterogeneous load devices of unmanned aerial vehicle of claim 6, characterized in that: the buffer management includes: setting the size of a buffer area, emptying the buffer area and reading the data of the buffer area by utilizing a message queue mechanism.
8. The unified driving model for the heterogeneous load devices of unmanned aerial vehicle according to claim 1, characterized in that: the access management performs preliminary processing on data received from the device interface, including framing the data, ensuring the integrity of a frame of the received data, and performing CRC on the data frame to ensure the correctness of the data.
9. The unified driving model for the heterogeneous load devices of unmanned aerial vehicle according to claim 1, characterized in that: the unified management layer identifies the device type by receiving the device information data.
10. The unified driving model for the heterogeneous load devices of unmanned aerial vehicle according to claim 1, characterized in that: the unified management layer provides a file-based unified calling interface to an upper layer.
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Application publication date: 20210907 |